Linear Encoder, 8022752 - SICK

T E C H N I C A L I N F O R M A T I O N

Linear Encoder

SAE J1939 Protocol

MAX

Product described

MAX - SAE J1939 Protocol

Manufacturer

SICK AGErwin-Sick-Str. 179183 WaldkirchGermany

Legal information

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The trademarks stated in this document are the property of their respective owner.

© SICK AG. All rights reserved.

Original document

This document is an original document of SICK AG.

2 T E C H N I C A L I N F O R M A T I O N | Linear Encoder 8022752/2018-08-03 | SICKSubject to change without notice

Contents

1 About this document........................................................................ 41.1 Purpose of this document........................................................................ 41.2 Target group.............................................................................................. 41.3 Abbreviations used................................................................................... 4

2 Safety information............................................................................ 62.1 General notes............................................................................................ 62.2 Intended use............................................................................................. 6

2.2.1 Responsibility of user.............................................................. 62.3 Purpose of the device............................................................................... 7

3 J1939-21 data link............................................................................ 83.1 Protocol data unit..................................................................................... 83.2 Parameter group number......................................................................... 93.3 Proprietary B parameter group number.................................................. 93.4 Transport protocol..................................................................................... 10

3.4.1 Multi-packet broadcast message........................................... 10

4 J1939-81 network management.................................................... 134.1 Overview of state transitions................................................................... 144.2 Network state machine............................................................................ 154.3 J1939 NAME definition............................................................................ 154.4 Address management messages............................................................ 16

4.4.1 Address Claimed message...................................................... 164.4.2 Cannot Claim Source Address message................................ 174.4.3 Request message for Address Claimed (PGN 60928).......... 17

4.5 Address configuration.............................................................................. 184.5.1 Commanded Address message.............................................. 18

4.6 Network error management..................................................................... 20

5 J1939-74 Application Configurable Messaging........................... 215.1 Configuration of NAME............................................................................. 215.2 Configuring the transmission repetition rates (update rates)................ 225.3 Configuring the Data Record parameter group number........................ 23

6 J1939-71 Application Layer............................................................. 256.1 Software identification............................................................................. 256.2 Component identification......................................................................... 266.3 Parameter information............................................................................. 27

7 J1939-73 Application Layer Diagnostics....................................... 287.1 Stop Start Broadcast (DM13).................................................................. 28

8 Data Record message...................................................................... 31

CONTENTS

8022752/2018-08-03 | SICK T E C H N I C A L I N F O R M A T I O N | Linear Encoder 3Subject to change without notice

1 About this document

1.1 Purpose of this document

This document describes the implementation of the standard J1939 protocol in the lin‐ear encoder.

The linear encoder supports:

• SAE J1939 Top Level Document• SAE J1939-71 Application Layer• SAE J1939-81 Network Management

1.2 Target group

This document is intended for expert personnel who configure and operate the linearencoder.

The following qualifications are required for these activities:

• Knowledge of the current safety regulations and of the operation and control ofthe devices in their particular application

• Knowledge of automation systems• Knowledge of the J1939 standard• Knowledge of how to use automation software

1.3 Abbreviations used

General

CA Controller ApplicationCAN Controller Area NetworkCANopen Registered trademark of CAN in Automation e.V.CiA CAN in Automation e.V.EDS Electronic Data SheetEEPROM Electrically Erasable Programmable Read-only MemoryLSB Least significant bitMSB Most significant bitPLC Programmable Logic ControllerPMR Physical Measuring RangeRAM Random Access MemorySAE Society of Automotive Engineers

Configuration

BAM Broadcast Announce MessageCoB Communication ObjectCoB-ID Communication Object IdentifierCoS Change of StateDM Diagnostic messagesEMGY Emergency messageNMT Network managementNode ID Node identifierOP OperationalPGN Parameter group numberro Read onlyRTR Remote Transmission Request = request telegram for PDOsrw Read WriteRx The linear encoder is the consumer of the CAN data frame.SA Source address

1 ABOUT THIS DOCUMENT


SAFEOP Safe OperationalSRDO Safety-relevant data objectTP Transport protocolTx The linear encoder is the producer of the CAN data frame.wo Write only

ABOUT THIS DOCUMENT 1


2 Safety information

2.1 General notes

Should persons be placed at risk, or operating equipment potentially be damaged inthe event of a malfunction or failure of the device, this must be prevented by means ofsuitable protective devices, e. g., emergency shutdown systems.

If the device is not functioning correctly, it must be taken out of operation and securedagainst unauthorized operation.

To guarantee proper operation of the device, please observe the following:

• Protect the device against mechanical stress during installation• Do not open the device• Connect the device with the correct polarity, supply voltage and control pulses• Observe the permissible operating and ambient conditions for the device• Regularly check the device for correct operation and document the results

2.2 Intended use

2.2.1 Responsibility of user

Designated users

see "Target group", page 4.

Correct project planning

• This document assumes that appropriate project planning has been carried outbefore delivery of the device (e.g. based on the SICK application questionnaire),and the device is in the required delivery state based on that planning (see sup‐plied system documentation).w If you are not certain whether the device corresponds to the state defined

during project planning or in the supplied system documentation, please con‐tact SICK Customer Service.

Special local conditions

In addition to the instructions in this Technical Information, follow all local laws, techni‐cal rules and company-internal operating directives applicable at the respective deviceinstallation location.

Read operating instructions

• Read and follow the information in these operating instructions• Follow all safety notes• If there is anything you do not understand, please contact SICK Customer Service

Retention of documents

These operating instructions:

• Must be made available for reference.• Must be passed on to new owners.

2 SAFETY INFORMATION


2.3 Purpose of the device

The linear encoder MAX is designed for position measurements in mobile hydraulicapplications and therefore can be used to control the hydraulic components of con‐struction machinery, e.g. in hydraulic cylinders. The rugged housing offers optimal pro‐tection against dust, climatic influences, vibrations, surrounding media as well aselectrical and magnetic fields.

The device is an accessory and must be connected to a suitable electronic control unit.

SAFETY INFORMATION 2


3 J1939-21 data link

This chapter contains general information about using the CAN protocol with extended29-bit CAN identifiers. This 29-bit CAN frame format is the only format allowed forJ1939 CAN messages. Standard 11-bit CAN frames can, however, also be used in thenetwork.

3.1 Protocol data unit

The protocol data unit provides a framework for organizing the key information that issent with every CAN data frame. The extended CAN data frame used in the SAE J1939protocol is composed of seven fields. The 29-bit identifier is composed of six fields.

J1939 PDU

P R

D

P PF PS SA Data Field

. . . . .

Bits 3 1 1 8 8 8 0 ... 64

Figure 1: Extended CAN data frame definition

P – Priority

These three bits are used to optimize message latency for transmission (3 bits).

R – Reserved

Always 0 (1 bit).

DP – Data Page

Only 0 is used (1 bit).

PF – PDU Format

This field is used to specify the parameter group number (PGN). Parameter group num‐bers identify or label information that require one or more CAN data frames to transmitthem. The PDU Format is the middle byte of the parameter group number.

PS – PDU Specific

This field depends on the value of PDU Format, and contains either a destinationaddress or a group extension, depending on PDU Format. If the value of the PDU For‐mat field is less than 240, the PDU Specific field contains a destination address. If thevalue of the PDU Format field is between 240 and 255, the PDU Specific field containsa group extension value. PDU2 format messages are global messages.

Table 1: PDU definition

PDU Format field PDU Specific field

PDU1 format 0 - 239 Destination address

PDU2 format 240 - 255 Group extension

Specific Destination Address (DA)

This field defines the specific address to which the message is being sent. All otherdestinations should ignore this message. In the case of the global destination address(255), all devices are required to listen and respond as message recipients.

3 J1939-21 DATA LINK


Group Extension (GE)

The Group Extension field provides 4069 parameter groups per page.

Source Address (SA)

There should only be one device on the network with a given source address. TheSource Address field therefore ensures the CAN identifier is unique, as required by CAN.

Data Field

The J1939 protocol data unit (PDU) can contain up to 8 bytes, as per the definition ofthe CAN data frame. A parameter group, on the other hand, can contain up to1785 bytes. A segmented (multi-packet) data transmission therefore needs to be usedin this case. This segmented data transmission is defined in the J1939 transport proto‐col. The linear encoder only supports the transport protocol for configuring the sourceaddress (see "Commanded Address message", page 18).

3.2 Parameter group number

The PGN uniquely identifies the parameter group (PG) that is being transmitted in themessage. Every PG (grouping of specific parameters) has its own specific definitioncomprising the assignment of each parameter within an 8-byte data field (size in bytes,location of the LSB), and the transmission rate and priority of the message.

3 Bit

Priority

1 Bit

Reserved

1 Bit

Data Page

8 Bit

PDU Format

8 Bit

PDU Specific

8 Bit

Source

Adress

3 Bit

Priority

1 Bit

Reserved

1 Bit

Data Page

8 Bit

PDU Format

8 Bit

PDU Specific

29 Bit

CAN ID

1

Figure 2: Parameter group number

1 24-bit parameter group number

The parameter group number has been extended to 24 bits for internal purposes. Onlydata page 0, however, is supported for the linear encoder. The reserved bit is set tozero, i.e. the high byte of the parameter group number is always zero.

3.3 Proprietary B parameter group number

This parameter group number is used for manufacturer-specific purposes. It uses thePDU2 format. The data length must be defined by the manufacturer.

Table 2: Proprietary B PGN definition

Proprietary B parameter group number

Transmission rate As per user requirements

Data length 8 byte (in general 0–1785)

J1939-21 DATA LINK 3


Proprietary B parameter group number

Data page 0

PDU format 255

PDU specific Group extension

Default priority 6

Parameter group number 65280 to 65535 (00FF0016 to 00FFFF16)

Source address 0 to 253

In the case of the linear encoder, the Proprietary B parameter group number is used forthe Data Record message.

Table 3: Proprietary B linear encoder data field

Data field

Byte D0 bits 8-1 Least significant byte of the position

Byte D1 bits 8-1 2nd least significant byte of the position

Byte D2 bits 8-1 3rd least significant byte of the position

Byte D3 bits 8-1 Most significant byte of the position

Byte D4 bits 8-1 Least significant byte of the speed

Byte D5 bits 8-1 Most significant byte of the speed

Byte D6 bits 8-1 Status

Byte D7 bits 8-1 Error code

The transmission rate and the PDU Specific value can be changed by the user via appli‐cation configurable messaging (see "J1939-74 Application Configurable Messaging",page 21).

3.4 Transport protocol

Some parameter group numbers are defined with a data length of over 8 bytes. Since aCAN data frame is limited to just 8 bytes per message, the parameter group must bepackaged into a sequence of messages of 8 bytes each. The relevant functions, forexample for packaging and reassembly, are defined in the transport protocol (TP).

In the case of the linear encoder, this transport protocol is only used when programmat‐ically setting a new source address using the SAE J1939 Commanded Address com‐mand. This command only uses the multi-packet broadcast message.

3.4.1 Multi-packet broadcast message

Multi-packet broadcast messages are sent to the global address of the J1939 network.This message consists of two types of messages.

Transport Protocol – Connection Management (TP.CM)

To transmit a multi-packet message, a node must first send a Broadcast AnnounceMessage (BAM). The Broadcast Announce Message is embedded in the Transport Pro‐tocol – Connection Management message.

Table 4: TP.CM PGN definition

Transport Protocol – Connection Management

Transmission rate as required

Data length 8 bytes

Data page 0

PDU format 236




PDU specific 255 (global address)

Default priority 7

Parameter group number 60416 (00EC00)16


Table 5: Data field for the TP.CM Broadcast Announce Message (BAM)


Byte 1 Control byte = 32 (0x2016) for BAM

Byte 2 Message size (low byte)

Byte 3 Message size (high byte)

Byte 4 Total number of packets

Byte 5 Reserved = 255 (0xFF16)

Byte 6 Parameter group number (low byte)

Byte 7 Message size (middle byte)

Byte 8 Parameter group number (high byte)

Transport Protocol – Data Transfer (TP.DT)

Table 6: TP.DT PGN definition

Transport Protocol – Data Transfer


Data length 8 bytes

Data page 0

PDU format 235


Default priority 7

Parameter group number 60160 (00EB00)16


Table 7: PGN TP.DT data field

Transport Protocol – Data Transfer

Byte 1 Sequence number (1–255)

Byte 2 Data

Byte 3 Data

Byte 4 Data

Byte 5 Data

Byte 6 Data

Byte 7 Data

Byte 8 Data

The last packet of a multi-packet PGN may require less than eight data bytes. Allunused data bytes in the last packet are set to 255 (0xFF16).

J1939-21 DATA LINK 3


Timing requests

50

... 20

0

ms

50

... 20

0

ms

50

... 20

0

ms

T1

= 7

50

ms

T1

= 7

50

ms

T1

= 7

50

ms

BAM — Broadcast Announce Message

TP.DT — Data Transfer 1 — Byte 1 ... 7

TP.DT — Data Transfer 2 — Byte 8 ... 14

TP.DT — Data Transfer n — Byte x ... y

1 2

Figure 3: Data transfer per Broadcast Announce Message

1 Transmitting node2 Receiving node

The time interval between message packets is between 50 ms and 200 ms. A timeoutoccurs if more than 750 ms elapses between two messages. The connection is thenclosed. The connection is also closed when the last data transfer packet (TP.DT) hasbeen sent.



4 J1939-81 network management

The network management in a SAE J1939 network manages the source addresses,associates these addresses with a specific function, and detects and reports network-related errors. The network management also specifies the initialization process.

J1939-81 NETWORK MANAGEMENT 4


4.1 Overview of state transitions

STARTExecution of the

switch-on self-testSwitch on

Wait 250 ms for Adress Claim-Disput

Delay before Adress Re-Claim

Prioritization of address dispute

during initialization

Cannot Claim Adress

Delay before sending „Cannot Claim“

Prioritization of address dispute after

successful Claim

Send and receivenormal message traffic

(Adress Claim successful)

Self-test completed

Send Adress Claim

Re-Claim of current address

Send „Cannot Claim Adress“

Request for Adress Claim

received


Delay complete

Disputant‘s NAME lower than own


Error "Bus-Off" occurred or message conflict during Adress Claim

detected

Delay complete

Send Adress Claim

250 ms passed without disputed

Adress Claim

Re-Claim ofcurrent address

Re-Claim of current address

Disputed AdressClaim received

Request forAddress Claim

received

Disputant‘s NAME higher than its own

Disputant‘s NAME lower than own

Disputant‘s NAME higher than its own

Disputed AdressClaim received

Figure 4: Schematic of the state transitions when switching on the device

4 J1939-81 NETWORK MANAGEMENT


4.2 Network state machine

The delay of 250 ms may not apply for CAs claiming addresses in the 0–127 or 248–253 range.

After being switched on, the linear encoder sends an Address Claimed message on thenetwork. This message is a global message that is received by any arbitrary CA in thenetwork. It contains the source address and the unique NAME of the linear encoder.

If the linear encoder does not receive any other Address Claimed messages containingthe same source address, it starts transmitting normal Data Record messages. Thetransmission starts immediately after the Address Claimed message is transmitted, orafter a delay of 250 ms if the source address is in the range of 128–247.

If the linear encoder receives an Address Claimed message containing the same sourceaddress, it must compare the received NAME with its own NAME.

If the received NAME is lower than its own, the linear encoder must use the NULLaddress (254) as its source address and send a Cannot Claim Address message.

The Cannot Claim message is sent after a pseudo random delay between 0 and153 ms. If the linear encoder has a source address of NULL, it does not send the nor‐mal Data Record message.

If the received NAME is higher than its own, the linear encoder resends the AddressClaim message and starts or continues transmitting the Data Record message,whereby a delay of 250 ms applies if the source address is in the range of 128–247.

If the CAN Bus OFF error condition occurs, the linear encoder must resend its AddressClaimed message after a pseudo random delay between 0 and 153 ms.

4.3 J1939 NAME definition

Every CA that transmits messages on a SAE J1939 network must have a unique NAMEand successfully acquire an address before being able to transmit normal network traf‐fic. The NAME serves two purposes: firstly to provide a description of operation of theCA, and secondly to provide a numerical value that can be used in the network manage‐ment of addresses.

Each NAME comprises the fields shown in table 2 and table 3 and is defined asdescribed below.

Table 8: NAME fields

Arbi‐traryAddressCapable

IndustryGroup

VehicleSystemInstance

VehicleSystem

Reserved

Function FunctionInstance

ECUInstance

ManufacturerCode

Identity Number

1 bit4.1.1.2

3 bits4.1.1.3

4 bits4.1.1.4

7 bits4.1.1.5

1 bit4.1.1.6

8 bits4.1.1.7

5 bits4.1.1.8

3 bits4.1.1.9

11 bits4.1.1.10

21 bits4.1.1.11

Byte 8 Byte 7 Byte 6 Byte 5 Byte 4 Byte 3 Byte 2 Byte 1

Since SICK does not know the final application of the linear encoder, the four high bytesare freely programmable by the customer (except the Arbitrary Address Capable bit),see "Configuration of NAME", page 21.

The manufacturer code is set to the value 877 for SICK ATECH GmbH. The identity num‐ber is a unique value that is programmed by SICK ATECH.



4.4 Address management messages

4.4.1 Address Claimed message

The linear encoder sends an Address Claimed message after the following events:

• When it is switched on• The Address Claimed command is requested• In the re-claim scenario, i.e. when an Address Claimed message with the same

source address is received• The source address is changed programmatically• The NAME is changed programmatically

Table 9: Address Claimed message definition

Address Claimed message


Data length 8 bytes

Data page 0

PDU format 238


Default priority 6

Parameter group number 60928 (00EE00)16


Table 10: Structure of NAME in the Address Claimed message

NAME

Byte D0 Bits 8-1 Least significant byte of the identity number

Byte D1 Bits 8-1 Second byte of the identity number

Byte D2 Bits 8-6 Least significant 3 bits of the manufacturer code

Bits 5-1 Most significant 5 bits of the identity number

Byte D3 Bits 8-1 Most significant bit of the manufacturer code

Byte D4 Bits 8-4 Function Instance

Bits 3-1 ECU Instance

Byte D5 Bits 8-1 Function

Byte D6 Bits 8-2 Vehicle System

Bit 1 Reserved

Byte D7 Bit 8 Arbitrary Address Capable

Bits 7-5 Industry Group

Bits 4-1 Vehicle System Instance

Claimed example:

Table 11: Address Claimed message

COB-ID Rx/Tx DLCData

D0 D1 D2 D3 D4 D5 D6 D7

0x18E‐EFF00+sourceaddress

Tx/Rx 8 See table 10



4.4.2 Cannot Claim Source Address message

The linear encoder sends a Cannot Claim Source Address message after the followingevents:

• The Address Claimed command is requested and the source address is a NULLaddress (254)

• An Address Claimed message is received with the same source address and alower NAME than its own

Table 12: Cannot Claim Address message definition

Address Claimed message


Data length 8 bytes

Data page 0

PDU format 238


Default priority 6

Parameter group number 60928 (00EE00)16

Source address 254

Table 13: Structure of NAME in the Cannot Claim Address message

NAME

Byte D0 Bits 8-1 Least significant byte of the identity number

Byte D1 Bits 8-1 Second byte of the identity number

Byte D2 Bits 8-6 Least significant 3 bits of the manufacturer code


Byte D3 Bits 8-1 Most significant bit of the manufacturer code





Bit 1 Reserved

Byte D7 Bit 8 Arbitrary Address Capable



Cannot Claim Address example:

Table 14: Cannot Claim Address message


D0 D1 D2 D3 D4 D5 D6 D7

0x18E‐EFFFE

Tx/Rx 8 See table 10

4.4.3 Request message for Address Claimed (PGN 60928)

An Address Claimed request message can be used to force the linear encoder to sendeither an Address Claimed or Cannot Claim Address message depending on the actualsource address.



Table 15: Cannot Claim Address message definition

Address request message


Data length 3 bytes

Data page 0

PDU format 234

PDU specific Destination address (global or specific)

Default priority 6

Parameter group number 59904 (00EA00)16

Source address any value (except own SA)

Table 16: Request message for Address data field

Data field (Address Claimed PGN)

Byte D0 0x00 (low byte of the PGN)

Byte D1 0xEE (middle byte of the PGN)

Byte D2 0x00 (high byte of the PGN)

Example:

Table 17: Request message for Address Claimed


D0 D1 D2 D3 D4 D5 D6 D7

0x18EASAMA

Rx 3 0x00 0xEE 0x00 - - - - -

SA – Source address of the linear encoder or 0xFF (global address)

MA – Master source address (any value allowed except the own source address)

4.5 Address configuration

The linear encoder is a Command Configurable Address CA. The source address of aCommand Configurable Address CA can be changed using a Commanded Address mes‐sage.

4.5.1 Commanded Address message

The Commanded Address message is sent using the BAM transport protocol as definedin SAE J1939-21 (see "Transport protocol", page 10).

Table 18: Commanded Address message definition

Commanded Address message


Data length 9 bytes

Data page 0

PDU format 254

PDU specific 216

Default priority 6

Parameter group number 65240 (00FED816)

Source address



Table 19: NAME of the Commanded Address destination

NAME

Byte 1 Bits 8-1 Least significant byte of the identity number

Byte 2 Bits 8-1 Second byte of the identity number

Byte 3 Bits 8-6 Least significant 3 bits of the manufacturer code


Byte 4 Bits 8-1 Most significant bit of the manufacturer code

Byte 5 Bits 8-4 Function Instance


Byte 6 Bits 8-1 Function

Byte 7 Bits 8-2 Vehicle System

Bit 1 Reserved

Byte 8 Bit 8 Arbitrary Address Capable



Table 20: New source address of Commanded Address

Address assignment (new source address)

Byte 9

Bits 8-1 New source addressData range: 0–253

Example:


D0 D1 D2 D3 D4 D5 D6 D7

0x1CECFFMA

Rx 8 0x20 0x09 0x00 0x02 0xFF 0xD8 0xFE 0x00


D0 D1 D2 D3 D4 D5 D6 D7

0x1CEBFFMA

Rx 8 0x01 See table 19Byte 1 to byte 7 of the commanded address


D0 D1 D2 D3 D4 D5 D6 D7

0x1CEBFFMA

Rx 8 0x02 Seetable 19

Seetable 20

0xFF 0xFF 0xFF 0xFF 0xFF

Byte 8 to byte 9 ofthe commandedaddress

MA – Master source address (any value allowed except the own source address)

The maximum allowable time between each message is 750 ms, after which the BAMtransport protocol is aborted.

NOTEThe new source address is activated immediately. The new source address is stored inthe non-volatile memory of the linear encoder, i.e. the linear encoder uses the newsource address the next time it is switched on.



If the programmatic change is successful, the linear encoder sends an AddressClaimed message to avoid a network error if there is another device using the samesource address.

4.6 Network error management

Every device in the SAE J1939 network must have a unique source address. Sourceaddresses can be in the range 0 to 253. The source address 254 is the NULL address.It is reserved for network management, and is used for the Cannot Claim SourceAddress message (see "Cannot Claim Source Address message", page 17). The sourceaddress 255 is used exclusively as a destination address to support message broad‐casting.

A source address conflict can occur when two or more devices claim the same sourceaddress. Whenever a device receives an Address Claimed message (see "AddressClaimed message", page 16) containing its own source address, it must compare theNAME of the Address Claimed message. The device with the lowest NAME value canuse the claimed source address. The other devices must claim a different sourceaddress, or use the NULL address to stop transmitting on the network. The otherdevices also send an Address Claimed message, and may send a Cannot Claim SourceAddress (see "Cannot Claim Source Address message", page 17) after a pseudo ran‐dom delay between 0 and 153 ms.

There is a small probability of two or more devices with the same source address send‐ing an Address Claimed or Cannot Claim Source Address message at the same time.The CAN identifier of these messages will be identical, but the data field will be differ‐ent. This situation can lead to a CAN error on the device, or put it in the CAN Bus Offstate. If this happens, the device must resent the message after a pseudo randomdelay between 0 and 153 ms.

NOTEIf, in the event of a source address conflict, the linear encoder has the higher NAME,the linear encoder claims the NULL address and stops transmitting the Data Recordmessage. It can then only send the request message for Address Claimed (PGN 60928)(see "Address Claimed message", page 16) or the Commanded Address message (see"Commanded Address message", page 18).



5 J1939-74 Application Configurable Messaging

The linear encoder can be used in a wide variety of applications and under widely differ‐ent network requirements. The user therefore now has the ability to change certainparameters by means of J1939-74 Application Configurable Messaging.

NOTEOnly the Destination Specific Proprietarily Configurable Messages 1–3 have beenimplemented in the linear encoder. All other services are not supported.

5.1 Configuration of NAME

The NAME of the linear encoder may differ depending on the application.

Each NAME comprises the fields shown in table 2 and see table 3, page 10 and isdefined as described below.

Table 21: NAME fields

Arbi‐traryAddressCapable

IndustryGroup

VehicleSystemInstance

VehicleSystem

Reserved

Function FunctionInstance

ECUInstance

ManufacturerCode

Identity Number

1 bit4.1.1.2

3 bits4.1.1.3

4 bits4.1.1.4

7 bits4.1.1.5

1 bit4.1.1.6

8 bits4.1.1.7

5 bits4.1.1.8

3 bits4.1.1.9

11 bits4.1.1.10

21 bits4.1.1.11

Byte 8 Byte 7 Byte 6 Byte 5 Byte 4 Byte 3 Byte 2 Byte 1

The Manufacturer Code and Identity Number fields can be changed by the user. The lin‐ear encoder uses the Destination Specific Proprietarily Configurable Message 1 to pro‐grammatically change the NAME.

Table 22: Destination Specific Proprietarily Configurable Message 1 definition

Destination Specific Proprietarily Configurable Message 1


Data length 8 bytes

Data page 0

PDU format 177

PDU specific DA (destination address)

Default priority 6

Parameter group number 45312 (00B100)16

Source address 0-253

Table 23: Structure of the Destination Specific Proprietarily Configurable Message 1


Byte D0 Bits 8-1 SICK signature “S”

Byte D1 Bits 8-1 SICK signature “K”

Byte D2 Bits 8-1 SICK signature “A”

Byte D3 Bits 8-1 SICK signature “T”





J1939-74 APPLICATION CONFIGURABLE MESSAGING 5



Bit 1 Reserved (any value)

Byte D7 Bit 8 Arbitrary Address Capable (any value)



The linear encoder is not Arbitrary Address Capable, so this bit is defined as ‘any value’.

NOTEThe new NAME of the linear encoder is activated immediately. The new NAME is storedin the non-volatile memory of the linear encoder, i.e. the linear encoder uses the newNAME the next time it is switched on.

If the programmatic change has been successful, an Address Claimed message is sent.

Example

Table 24: Programming


D0 D1 D2 D3 D4 D5 D6 D7

0x18B1SAMA

Rx 8 0x4D 0x54 0x53 0x00 0x01 0x8F 0x06 0x40

of NAME SA – Source address of the linear encoder

MA – Master source address (any value allowed except the own source address SA)

5.2 Configuring the transmission repetition rates (update rates)

The transmission rate of the Data Record message of the linear encoder may differdepending on the application.

The linear encoder uses the Destination Specific Proprietarily Configurable Message 2to programmatically set the transmission rate. The transmission rate can be in therange of 0–65635 ms.




Data length 8 bytes

Data page 0

PDU format 178


Default priority 6





Byte D0 Bits 8-1 SICK signature “S”

Byte D1 Bits 8-1 SICK signature “K”

Byte D2 Bits 8-1 SICK signature “A”

Byte D3 Bits 8-1 SICK signature “T”

5 J1939-74 APPLICATION CONFIGURABLE MESSAGING



Byte D4 Bits 8-1 Low byte of the new transmission rate

Byte D5 Bits 8-1 High byte of the new transmission rate

Byte D6 Bits 8-1 any value

Byte D7 Bit 8-1 any value

NOTEThe new transmission rate of the linear encoder is activated immediately. The newtransmission rate is stored in the non-volatile memory of the linear encoder, i.e. the lin‐ear encoder uses the new transmission rate the next time it is switched on.

Example

Table 27: Programmatically setting the transmission rate


D0 D1 D2 D3 D4 D5 D6 D7

0x18B2SAMA

Rx 8 0x4D 0x54 0x53 0x00 0x64 0x00 0x00 0x00

SA – Source address of the linear encoder


5.3 Configuring the Data Record parameter group number

The Proprietary B parameter group number (see "Proprietary B parameter group num‐ber", page 9) is used for the Data Record message. Depending on the application, theData Record message will contain a different PGN in the range of 65280 to 65535.




Data length 8 bytes

Data page 0

PDU format 179


Default priority 6





Byte D0

Bits 8-1 SICK signature “S”

Byte D1

Bits 8-1 SICK signature “K”

Byte D2

Bits 8-1 SICK signature “A”

Byte D3

Bits 8-1 SICK signature “T”

J1939-74 APPLICATION CONFIGURABLE MESSAGING 5



Byte D4

Bits 8-1 Low byte of the new PGN

Byte D5

Bits 8-1 High byte of the new PGN (always FF16)

Byte D6

Bits 8-1 any value

Byte D7

Bit 8-1 any value

NOTEThe new Data Record PGN of the linear encoder is activated immediately. The new DataRecord PGN is stored in the non-volatile memory of the linear encoder, i.e. the linearencoder uses the new Data Record PGN the next time it is switched on.

Example

Programmatically setting the Data Record PGN to 65283 (FF0316)

Table 30: Programmatically setting the Data Record PGN


D0 D1 D2 D3 D4 D5 D6 D7

0x18B3SAMA

Rx 8 0x4D 0x54 0x53 0x00 0x03 0xFF 0x00 0x00



5 J1939-74 APPLICATION CONFIGURABLE MESSAGING


6 J1939-71 Application Layer

The J1939-71 Application Layer describes and defines the parameter group numbersand the suspect parameter numbers. Only the Software Identification and ComponentIdentification PGNs have been implemented in the linear encoder. There are no applica‐tion-specific suspect parameters that correspond to Data Record information.

6.1 Software identification

The firmware version of the linear encoder can be read using a request command andthe Software Identification parameter group number.

Table 31: Software identification definition

Software identification


Data length 8 bytes

Data page 0

PDU format 254

PDU specific 218

Default priority 6

Parameter group number 65242 (FEDA00)16


Table 32: Structure of the Software Identification message


Byte D0 Bits 8-1 4

Byte D1 Bits 8-1 LSB of the software version

Byte D2 Bits 8-1 Middle byte of the software version

Byte D3 Bits 8-1 Middle byte of the software version

Byte D4 Bits 8-1 MSB of the software version

Byte D5 Bits 8-1 0

Byte D6 Bits 8-2 0

Byte D7 Bits 8-1 0

Example

Requesting the software identification


D0 D1 D2 D3 D4 D5 D6 D7

0x18EASAMA

Rx 3 0xDA 0xFE 0x00 - - - - -


Table 33: Requesting the software identification sequence


D0 D1 D2 D3 D4 D5 D6 D7

0x18FEDASA

Tx 8 0x04 LSB MSB MSB MSB 0x00 0x00 0x00


J1939-71 APPLICATION LAYER 6



6.2 Component identification

The serial number of the linear encoder can be read using a request command and theComponent Identification parameter group number.

Table 34: Component identification definition

Component identification


Data length 8 bytes

Data page 0

PDU format 254

PDU specific 235

Default priority 6

Parameter group number 65259 (FEEB00)16


Table 35: Structure of the Component Identification message


Byte D0 Bits 8-1 0xFF


Byte D2 Bits 8-1 Low byte of the serial number

Byte D3 Bits 8-1 Middle byte of the serial number

Byte D4 Bits 8-1 Middle byte of the serial number

Byte D5 Bits 8-1 High byte of the serial number



Example

Requesting the component identification


D0 D1 D2 D3 D4 D5 D6 D7

0x18EASAMA

Rx 3 0xEB 0xFE 0x00 - - - - -


Table 36: Requesting the component identification sequence


D0 D1 D2 D3 D4 D5 D6 D7

0x18FEEBSA

Tx 8 0xFF 0xFF Serialno. low

Serialno.middle

Serialno.middle

Serialno.high

0xFF 0xFF



6 J1939-71 APPLICATION LAYER


6.3 Parameter information

The J1939-71 Application Layer defines so-called SLOT (Scaling, Limit, Offset andTransfer) functions that can be used when adding parameters to J1939. This helpsensure, as far as possible, that data consistency is maintained between parameters ofa particular type (temperature, pressure, speed, etc.). Each SLOT provides a range andresolution that is suitable for most parameters of a particular type. If necessary, a dif‐ferent scaling factor or offset can be used.

The following slots can be used for the Data Record message:

Position

SLOT name SLOT type Units Scaling Range Offset Length

SAEds04 Distance m 0.1 mm/bit 0 to6,425.5 mm

0 mm 2 bytes

Speed

SLOT name SLOT type Units Scaling Range Offset Length

SAEvl01 Speed, lin‐ear

m/s 0.001 m/sper bit

0 to64.255 m/s

0 m/s 2 bytes

For additional information, see see "Data Record message", page 31.

NOTEThere are no corresponding SLOT numbers for the other information in the Data Recordmessage.

J1939-71 APPLICATION LAYER 6


7 J1939-73 Application Layer Diagnostics

The SAE J1939-73 Application Layer Diagnostics defines functions and messages foraccessing diagnostic and calibration data. There are several predefined diagnosticmessages (DM).

NOTEThe linear encoder only supports DM13: Stop Start Broadcast.

7.1 Stop Start Broadcast (DM13)

This message is used to stop and start broadcast messages such as the Data Recordmessage of the linear encoder.

Table 37: Stop Start message definition

Stop Start Broadcast for the DM13


Data length 8 bytes

Data page 0

PDU format 223

PDU specific DA (destination address) or global address

Default priority 6

Parameter group number 57088 (00DF0016)


Table 38: Structure of the Stop Start message

START STOP message data format

Byte D0 Bits 8-7 Current Data Link

Bits 6-5 J1587

Bits 4-3 J1922

Bits 2-1 J1939 Network #1, Primary vehicle network

Byte D1 Bits 8-7 J1939 Network #2

Bits 6-5 ISO 9141

Bits 4-3 J1850

Bits 2-1 Other, Manufacture Specified Port

Byte D2 Bits 8-7 J1939 Network 2

Bits 6-5 SAE Reserved



Byte D3 Bits 8-5 Hold Signal

Bits 4-1 Suspend Signal

Byte D4 Bits 8-1 Suspend Duration

Byte D5 Bits 8-1 Suspend Duration

Byte D6 Bits 8-1 SAE Reserved

Byte D7 Bits 8-1 SAE Reserved

7 J1939-73 APPLICATION LAYER DIAGNOSTICS


The linear encoder is assigned to the J1939 Network #1, Primary Vehicle Network orthe Current Data Link. The Stop Broadcast timeout is normally 6 s, but can be sus‐pended with a Hold Signal. Once the Stop Broadcast time has elapsed, the linearencoder automatically transmits a Data Record message. After a power on reset, thelinear encoder is in the Start Broadcast state.

The individual 2-bit fields in the Stop Start Broadcast command are interpreted as fol‐lows:

Table 39: Bit definitions for DM13

Bit Information

00 Stop Broadcast

01 Start Broadcast

10 Reserved

11 Don’t care/take no action

Example

Stop Broadcast – Current Data Link

Table 40: Stop Broadcast – Current Data Link


D0 D1 D2 D3 D4 D5 D6 D7

0x18DFSAMA

Rx 8 0x3F 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF

Table 41: Start Broadcast – Current Data Link


D0 D1 D2 D3 D4 D5 D6 D7

0x18DFSAMA

Rx 8 0x7F 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF

Stop Broadcast – J1939 Network #1

Table 42: Stop Broadcast – J1939 Network #1


D0 D1 D2 D3 D4 D5 D6 D7

0x18DFSAMA

Rx 8 0xFC 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF

Start Broadcast after Stop Broadcast J1939 Network #1

Table 43: J1939 Network #1 – Start Broadcast


D0 D1 D2 D3 D4 D5 D6 D7

0x18DFSAMA

Rx 8 0xFD 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF

SA – Source address of the linear encoder or global address


The hold signal indicates to all devices that they should remain in the current StopBroadcast state. A device requesting a Stop Broadcast must send a hold signal every 5seconds. If no message is received within 6 seconds, all affected nodes revert to thenormal state.

J1939-73 APPLICATION LAYER DIAGNOSTICS 7


Table 44: Bit definitions for the hold signal

Bit states for bits 8-5 Devices to take action

0000 All devices

0001 Devices whose broadcast status has been changed

0010 to 1110 Reserved

1111 Not available

NOTEThe linear encoder will always remain in the Stop Broadcast state if the hold signal bitshave the value 0001, regardless of whether the broadcast status has been changed.

Example

DM13 Hold Signal (same for Current Data Link and J939 Network #1)

Table 45: DM13 Hold Signal


D0 D1 D2 D3 D4 D5 D6 D7

0x18DFSAMA

Rx 8 0xFF 0xFF 0xFF 0x0F 0xFF 0xFF 0xFF 0xFF

SA – Source address of the linear encoder or global address


NOTEThe linear encoder does not support the Suspend Signal and Suspend Duration func‐tions of DM13 (Stop Start Broadcast).

7 J1939-73 APPLICATION LAYER DIAGNOSTICS


8 Data Record message

The Data Record message contains the position and speed information of the linearencoder. It also contains status and error code information.

The device automatically begins transmitting a Data Record message after it isswitched on.

The transmission rate of the Data Record message can be changed by configuring thetransmission repetition rates (update rates) (see "Configuring the transmission repeti‐tion rates (update rates)", page 22). The default transmission rate is 20 ms.

Table 46: Data Record PGN definition

Data Record parameter group number

Transmission rate 20 ms by defaultData range 0 – 65535 ms

Data length 8 bytes

Data page 0

PDU format 255 by default

PDU specific Group extension

Default priority 6 by default

Parameter group number 65535 data range by default65280 to 65535 (00FF0016 to 00FFFF16)


Table 47: Data field of the Data Record linear encoder message


Byte D0 Bits 8-1 Least significant byte of the position

Byte D1 Bits 8-1 2nd least significant byte of the position

Byte D2 Bits 8-1 3rd least significant byte of the position

Byte D3 Bits 8-1 Most significant byte of the position

Byte D4 Bits 8-1 Least significant byte of the speed

Byte D5 Bits 8-1 Most significant byte of the speed

Byte D6 Bits 8-1 Status

Byte D7 Bits 8-1 Error code

Example

Table 48: Data Record message


D0 D1 D2 D3 D4 D5 D6 D7

0x18PFPSSA

Tx 8 Lowbyte oftheposi‐tion

2ndlowbyte oftheposi‐tion

3rdlowbyte oftheposi‐tion

Highbyte oftheposi‐tion

Lowbyte ofthespeed

Highbyte ofthespeed

Sensorstatus

Errorcode


PF – PDU format is set to 255 (FF16)

PS – PDU Specific can be between 0 and 255 (016 – FF16) (see "Configuring the DataRecord parameter group number", page 23)

DATA RECORD MESSAGE 8


Position:

The default resolution is 100 µm.

Position data in [0.1 mm] Intel format as UNSIGNED32

Data byte 0 LSB of the position data

Data byte 1 LSB2 of the position data

Data byte 2 LSB3 of the position data

Data byte 3 MSB of the position data

Speed

The resolution for speed data is set to 1 mm/s.

VD – Speed data in [1 mm/s] Intel format as UNSIGNED16

Data byte 4 LSB of the speed data

Data byte 5 MSB of the speed data

SS – Sensor status

Data byte 6 Sensor status

Table 49: Sensor statusSensor status 0x00 Normal

0x01 Data warning (for additional error information, see ECerror code)0x11 Error (for additional error information, see EC errorcode)

A warning is outputted under the following conditions:

• The position value buffer for the speed calculation contains less than 10 consecu‐tively valid position values.

• The position value is below the lower limit value. The relevant bit is set in the limitregister.

• The position value is above the upper limit value. The relevant bit is set in the limitregister.

The position and speed value is still transmitted in this state.

An error is outputted under the following conditions:

• Controller error. The internal test routines reported an error. This could be a regis‐ter, RAM, CPU, measuring cycle, start impulse length, stop counter or program exe‐cution error. The Controller Error bit is set in the error code register.

• Data flash error. The internal test routine at power up reported a checksum errorfor the linear encoder parameters stored in the data flash.The Data Flash Error bit is set in the error code register.

• The position value is outside the physically possible range of values. The RangeError bit is set in the error code register.

• The position value is below the lower limit for the working range. The relevant bit isset in the limit register.

• The position value is above the upper limit for the working range. The relevant bitis set in the limit register.

• No magnet detected. The No Magnet Error bit is set in the error code register.

The position and speed values are set to 65535 (FFFF16).

EC – Error Code

Data byte 7 Error code

8 DATA RECORD MESSAGE


The Temperature bit is set if the internal temperature of the microcontroller of the linearencoder exceeds 120 °C.

The definition of the “Sensor Error Code Register” is as follows:

Table 50: Sensor Error Code Register definition

D7 D6 D5 D4 D3 D2 D1 D0

0 T V F2 F1 N M W

W Error in scaledmeasuring range

0 = Magnet inside scaled measuring range1 = Magnet outside scaled measuring range

M Measuring rangeerror of manufac‐turer

0 = Magnet inside permitted measuring range of manufac‐turer1 = Magnet outside permitted measuring range of manufac‐turer

N Position magneterror

0 = One position magnet detected1 = No magnet or several magnets detected

F1 “Data Flash”error

0 = No error when writing to “Data Flash”1 = The CRC “Data Flash” check failed

F2 Flash writecounterexceeded

0 = No error in write counter1 = Write counter exceeded

V Supply voltageexceeded

0 = Supply voltage inside the permitted range1 = Supply voltage outside the permitted range

T Temperature 0 = Temperature inside the permitted range1 = Temperature outside the permitted range



8 DATA RECORD MESSAGE




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